Estimation & Control for Battery Management & Ocean Observing

Estimation & Control for Battery Management & Ocean Observing


  • 时间:2016年11月25日上午10:30
  • 地点:浙大玉泉校区教十八223(智能系统与控制研究所)
  • 联系人:许超,13706711953(手机),53295319(微信)


Energy and environment are fundamental challenges facing the human society nowadays. High hopes have been given to a bright future enabled by advanced energy management and environmental monitoring technologies. Recent studies have demonstrated the promise of control theory as a theoretical basis and thinking tool for tackling challenges in the two areas.

In this talk, I will present my research on battery management and ocean observation. The two seemingly distinct problems are inherently related: their solutions share a common foundation in optimal estimation theory. Battery-based energy storage is a major building block of renewable energy facilities and electric vehicles. Maximizing batteries’ operational safety, performance and lifetime largely depends on real-time state-of-charge estimation. For this problem, I will present solution strategies based on adaptive and multi-model estimation. Not only will they reduce the complexity of battery management, but also improve estimation accuracy in the presence of complicated battery dynamics. I will then describe my work on ocean flow field reconstruction via analysis of observation data collected from drifters. The considered problem boils down to nonlinear simultaneous input and state estimation, which will be explored and addressed. This work can help oceanographers understand flows and their impact on transportation of nutrients, motion of biological species, and diffusion of contaminants. In addition, it possesses significant implications for the design of renewable (wind, solar, etc.) energy observation and prediction systems. Such systems play an important role in efficient renewable energy harvesting.

Bio of the Speaker

Huazhen Fang is an Assistant Professor of Mechanical Engineering at the University of Kansas. He received his Ph.D. degree in Mechanical Engineering from the Department of Mechanical & Aerospace Engineering at the University of California, San Diego. Prior to that, he received M.Sc. in Mechanical Engineering from the University of Saskatchewan, Canada (2009), and B.Eng. in Computer Science & Technology from Northwestern Polytechnic University, China (2006). He worked as a Research Intern at Mitsubishi Electric Research Laboratories and NEC Laboratories America, respectively, in 2012 and 2013. His research interests focus on dynamic systems and control with application to energy management, environmental observation and mechatronics. He was selected as a Gordon Engineering Leadership Scholar (2010).

CSC Forum | Robotics & Artificial Intelligence

Cyber-Systems & Control Forum | Robotics & Artificial IntelligenceNovember 19 – 20, 2016



Topic Chairs

  • Yong Liu, Associate Professor, Email:
  • Wei Jiang, Associate Professor, Email:

Keynote Speakers

  • Dr. Tong Zhang, the founder of Hover Camera, PhD in Mechanical Engineering, Stanford University
  • Dr. Xinqiang Ma, Key Laboratory of Machine Vision and Intelligent Information System, Chongqing University of Arts and Sciences, College of Computer Science & Technology, Guizhou University, China
  时间 报告人 题目
2016/11/19 9:00~9:10 签到&致辞
9:10~9:50 张通(老师) Hover Camera 小黑侠跟拍无人机的从零到一
9:50~10:10 周卫国 3D time-of-flight cameras for mobile robotics
10:10~10:30 陈宇楠 扑翼飞行器的建模及振动控制设计
10:30~10:50 茶歇
10:50~11:10 高飞 Online Quadrotor Trajectory Generation and Autonomous Navigation on Point Clouds
11:10~11:30 裘科杰 Model-based global localization for aerial robots
11:30~11:50 尹欣繁 灵蜂无人机
11:50~12:00 合照留念
11:50~14:30 午饭/午休
14:00~14:10 签到&致辞
14:10~14:30 王冠云 会呼吸的衣服——智能生物材料的研究与应用
14:30~14:50 陈辉 基于激光扫描点云和SFM融合的三维重建研究
14:50~15:10 高海明 基于激光传感器的移动机器人室内鲁棒定位与导航演示
15:10~15:30 邰磊 Towards Cognitive Exploration through Deep Reinforcement Learning for Mobile Robots
15:30~16:00 茶歇
16:00~16:20 高赫佳 Fuzzy Control of a Single-Link Flexible Robotic Manipulator Using Assumed Mode Method
16:20~16:40 项韦杰 Boundary Control of a Single Point Mooring System with Input Saturation in Three-Dimensional Space
16:40:17:00 黄羿 Learning Disjunctive Logic Programs from Interpretation Transition
17:00 晚饭
2016/11/20 9:00~9:10 签到&致辞
9:10~9:30 屈靓琼 室外图像光照建模与处理算法研究
9:30~9:50 闫子晨 Adaptive Neural Network Control of a Constrained Robotic Manipulator with Flexible Joints
9:50~10:10 黄海丰 Adaptive Neural Network Control of a Robotic Manipulator with Time-Varying Output Constraints
10:10~10:30 刘亮 多尺度监控图像目标检测与检索
10:30~10:50 茶歇
10:50~11:10 金绍港 扫一扫二维码——无人机的风雨无阻聪明路
11:10~11:30 刘延龙 演化计算概述及其性能评价
11:30~12:00 马新强(老师) 健康医疗大数据平台、基于微信上网行为记录的区域异常检测城市人流预测及可视化分析系统
12:00~14:00 午饭/午休
14:00~15:30 实验室参观

实验室参观路线包括:机器人实验室(The Robotics Laboratories, CSC-104, 105)、飞行智能体控制实验室(Flying Agent Control Laboratory, CSC-304)

Opto-electric Droplet and Particle Physics

Steve Wereley, Professor, Mechanical Engineering, Purdue University

  • Room 223, Institute of Cyber-Systems & Control
  • 10:30 A.M., Nov 22, 2016

Recently my research group in the Microfluidics Laboratory at Purdue University has harnessed the power of light and electric fields to develop several novel ways for non-contact manipulation of droplets and particles with potential applications in the bio/medical/chemical/pharma industries. These are generally described as opto/electric droplet manipulation and opto/electric particle manipulation. I will present the fundamental principles behind these methods, what their capabilities are, and what their potential uses are.

Opto/electric droplet manipulation: using lasers and electric fields we can control and manipulate individual droplets to perform assays and other chemical operations. This method is similar to opto-electrowetting (OEW or EWOD) except that the “electrodes” used for the droplet manipulation are virtual electrodes whose locations are defined by dynamic laser light patterns rather than fixed, unmovable conventional electrodes.

Opto/electric particle manipulation: using lasers and electric fields we can capture, concentrate, manipulate and sort populations of micro- and nanometer-scaled “particles”. These “particles” range in size from single molecules (DNA, proteins, etc.) to nanoparticles (quantum dots, carbon nanotubes, nano-scaled polystyrene latex beads, etc.) to complex biological organisms (bacteria, mammalian cells, etc.). This novel technique called Rapid Electrokinetic Patterning (REP) combines features of optical trapping (OT) and dielectrophoresis (DEP) in an innovative, dynamic way using a simple parallel plate electrode configuration. Transparent Indium Tin Oxide (ITO) electrodes on glass substrates apply an electric field to the fluid carrying the particles but also to allow light into and out of the fluid. Near-IR laser illumination causes subtle localized heating, creating an electric permittivity gradient that in turn drives a global microscopic toroidal vortex. The vortex efficiently transports particles to a preferred location, usually the surface of the electrode where they are non-permanently collected. They can then be released or permanently fixed in place by the application of a low frequency electric field.


Professor Wereley completed his masters and doctoral research at Northwestern University. He joined the Purdue University faculty in August of 1999 after a two-year postdoctoral appointment at the University of California Santa Barbara. During his time at UCSB he worked with a group developing, patenting, and licensing to TSI, Inc., the micro-Particle Image Velocimetry technique. His current research interests include opto/electrokinetics, investigating microscopic biological flows, harnessing diffusion for sensing applications, and developing new ways of measuring flows at the smallest length scales. Professor Wereley is the co-author of Fundamentals and Applications of Microfluidics (Artech House, 2002 and 2006) and Particle Image Velocimetry: A Practical Guide (Springer, 2007). He is on the editorial board of Experiments in Fluids and is an Associate Editor of Springer’s Microfluidics and Nanofluidics. Professor Wereley has edited Springer’s recent Encyclopedia of Microfluidics and Nanofluidics and Kluwer’s BioMEMS and Biomedical Nanotechnology.





6日,论坛在智控所223室进行。来自澳大利亚 Curtin University 的副教授 Ryan Loxton 率先作了题为:“Mine shutdown scheduling: A case study on research commercialization”的主题演讲,向大家展示了将最优控制方法应用到实际工业生产中去的一个成功案例。他精彩的报告引发了大家积极踊跃的提问与深入讨论,现场气氛非常活跃。这也引起了与会人员尤其是刚刚开始科研之路的博士生们对于本次分论坛主题的思考:优化技术如何得到真正意义上的应用。随后,来自国内各个高校的优秀博士生们依次作了报告,分别介绍了各自的研究课题与科研中取得的突破。在报告中,博士生们将控制优化技术运用于航空航天、欠驱动系统、网络化物理系统、复杂工业过程、流体控制等各个领域。大家互相学习,既开拓了视野,又丰富了专业知识,收获颇丰。






Flying Animals & Robots Symposium (Dec. 17 – 18, 2016)

飞行生物与机器人论坛 | Cyber-Systems & Control Forum | Flying Animals & Robots Symposium, Dec. 17 – 18, 2016





Topic Chairs

  • Dr. Jian Deng, Associate Professor
  • Dr. Chao Xu, Associate Professor
  • Dr. Yu Zhang, Associate Professor
  • Dr. Nenggan Zheng, Associate Professor

Focus Topics

  • Aerial robotics
  • Animal congnition
  • Bio-inspired locomotion


  • 邓亦敏|Yimin Deng, PhD Candidate, School of Automation Science & Electrical Engineering, Beihang University
  • 何玉庆|Dr. Yuqing He, Professor, Shenyang Institute of Automation (SIA), the Chinese Academy of Sciences (CAS)
  • 卢焕达|Dr. Huanda Lu, Associate Professor, Ningbo Institute of Technology, Zhejiang University
  • 罗淑贞|Shuzhen Luo, PhD candidate, College of Computer & Control Engineering, Nankai University
  • Mr. Benjamin Paffhausen, PhD candidate, Institute of Biology, Dept. of Biology, Chemistry, Pharmacy, Freie Universität Berlin
  • 邬婉楠|Wannan Wu, PhD candidate, College of Computer & Control Engineering, Nankai University
  • 孙孟孟|Mengmeng Sun, Zerotech
  • 孙昊|Hao Sun, PhD candidate, College of Computer & Control Engineering, Nankai University
  • Jin Tao, PhD candidate, College of Computer & Control Engineering, Nankai University
  • 吴大伟|Dawei Wu, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics
  • 袁振珲|Dr. Zhenhui Yuan, Ph.D., Robsense Tech
  • Dr. Yingying Zheng, Postdoctoral Researcher in National University of Singapore

Contact Info

  • Jiangcheng Zhu (朱疆成) (13738082849,
  • Zhepei Wang (汪哲培)


  • 石琥驿站(电话:15715717021;地址:浙江省杭州市青芝坞石虎山18号)

Schedule on Oct.17th, 2016

09:00 – 09:30 | Benjamin H Paffhausen, Neuronal Correlates of Social Behavior in Mushroom Body Extrinsic Neurons

09:30 – 10:00 | Zhenhui Yuan (袁振珲), All Programmable Flight Controller for Industry Applications

10:00 – 10:30 | Mengmeng Sun (孙孟孟), On Localization for UAV Formation (无人机编队定位简介)

10:30 – 10:50 | Tea Break

10:50 – 11:10 | Yingying Zheng, An Experimental Study on the Aerodynamic Performance of Flexible Tandem Wings

11:10 – 11:40 | Yuqing He (何玉庆), Aerial manipulator systems: Modeling, Control and Implementation

11:40 – 12:10 | Dawei Wu (吴大伟), Attitude Tracking Control of Aircraft Subjected to Unsteady Aerodynamic Disturbance

12:10 – 13:30 | Lunch

14:00 – 14:30 | Yimin Deng (邓亦敏), Bio-inspired Visual Detection and Measurement for Multiple Unmanned Aerial Vehicles

14:30 – 15:00 | Shuzhen Luo (罗淑贞), Trajectory tracking decoupling controller of the powered parafoil system based on ADRC

15:30 – 16:00 | Hao Sun (孙昊), Design of A Flight Control System for Autonomous Parafoils Using ADRC and Improved PID Control Approach

16:00 – 16:20 | Tea Break

16:20 – 16:50 | Wannan Wu (邬婉楠), Research on Simulation of Parafoil Modeling of Aerodynamic Performance based on CFD

16:50 – 17:20 | Jin Tao, Dynamic modeling and homing control of a parafoil system in windy conditions

17:20 – 17:50 | Huanda Lu (卢焕达), TBA


Neuronal Correlates of Social Behavior in Mushroom Body Extrinsic Neurons

Speaker: Benjamin H Paffhausen

Institute of Biology, Neurobiology, Freie Universität Berlin, Germany

So far no data exist about the neural correlates of social interaction in the honeybee. Werecord from multiple mushroom body extrinsic neurons during social interaction in a smallfunctioning honeybee colony. The bees cared for the queen, nursed the brood, guarded theexit, cleaned the hive and foraged. The colony used the honeycombs as they wouldnaturally. The recorded bee behaved normal. The weight of the highly flexible twisted tripleof wires was counterbalanced by a loose nylon spring. The behavior of both the recordedanimal and the hive mates was monitored in infrared by a video camera and later tracked.Up to 4 neurons were recorded simultaneously and lasted for up to 47 hours per animal.Spontaneous spike rates were lower than those of similar neurons in harnessed bees. Socialinteractions, location on the comb and body directions were not encoded by specific neuralactivities of selected units but rather by the combination of several units.Neural activity increases frequently during interactions. Furthermore, we find that thevariance of spike activity of the units increases suggesting that the neurons sense orcontrols the contacts with other bees. Hints were found that different activity patterns acrossneurons changes with different forms of social interactions. Ongoing analysis, that includemachine learning, are pursued to clarify whether the activity changes are related to, forexample, the origin of the approaching bee or the division of labor within the bee colony. Thehighly variability of neural activity needs further analyses.

An Experimental Study on the Aerodynamic Performance of Flexible Tandem Wings

Speaker: Zheng Yingying

As typical four-wing insects, the dragonflies have the features of both flexible wing and tandem-wing configuration. In previous studies, these two features have been widely studied and proven to account much for the great flight capability of the dragonflies. However, these two features were usually concerned separately. How the flexibility will affect the performance of tandem wings, and how tandem-wing configuration will affect the performance of flexible wings are still unknown. Therefore, the present work aims to study the combined effects of the wing flexibility and tandem configuration by investigating the aerodynamic performance of flexible tandem wings.

Three sets of dragonfly-like flexible tandem wings termed Wing I, Wing II and Wing III, and a set of rigid tandem wings as references were investigated in a hovering and two forward flights (St = 0.3 and 0.6). Three phase differences between the forewing and hindwing, i.e. , 9and , were employed. The results of force measurements showed that both the flexibility and phase difference had significant effects on the aerodynamic performance of flexible tandem wings. Generally, the tandem Wing III models with appropriate flexibility outperformed the other tandem wing models. The most favorable phase difference for different wing models varied. According to deformation measurements, the bending deformation of flexible wings was found to cause lags of wings’ locations in plunging direction as compared to the rigid wings. Both phase-locked PIV and time-resolved PIV measurements were carried out. Comparing the flow fields of Wing III models and rigid tandem wings, the lags contributed to the force generation of Wing III models by making the LEVs closer to the wings. Besides, the lags restrained the shedding of LEVs on the Wing III models as compared to that on the rigid wings, which also offered benefits to the Wing III models. What is more important, the lags modified the separation between forewing and hindwing, which resulted in different forewing-hindwing interactions between the tandem Wing III models and tandem rigid wings.

About the speaker

Zheng Yingying received her Bachelor’s Degree in Aerospace Engineering from Zhejiang University, China in 2011. She then pursued her PhD degree at School of Mechanical and Aerospace Engineering in Nanyang Technological University (Singapore) and graduated in 2016. She is currently a postdoctoral researcher in National University of Singapore.

Email:; HP: 65-96586139

Aerial manipulator systems: Modeling, Control and Implementation

Speaker: Yuqing He

About the speaker